#!/usr/bin/env python
# -*- coding: UTF-8 -*-
import time, sys, threading, math
import datetime
import copy

import rospy

import actionlib
from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryGoal, FollowJointTrajectoryResult
from trajectory_msgs.msg import JointTrajectoryPoint
from trajectory_msgs.msg import JointTrajectory
from std_msgs.msg import Float64MultiArray

class gsever:
  def __init__(self):
    self.server = actionlib.SimpleActionServer('gripper_controller/follow_joint_trajectory', FollowJointTrajectoryAction, self.execute, False)
    self.server.start()

  def execute(self, goal):
    # Do lots of awesome groundbreaking robot stuff here
    self.server.set_succeeded()


if __name__ == '__main__':
  rospy.init_node('gs')
  server = gsever()
  rospy.spin()